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AP_Mission: starts_with_takeoff_cmd skips past mav_cmd_nav_delay

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This commit is contained in:
Peter Barker 2018-08-08 19:10:40 +10:00 committed by Randy Mackay
parent ac55fae1c1
commit 32bc1860de
1 changed files with 19 additions and 6 deletions
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25
libraries/AP_Mission/AP_Mission.cpp
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@ -137,13 +137,26 @@ bool AP_Mission::starts_with_takeoff_cmd()
cmd_index = AP_MISSION_FIRST_REAL_COMMAND;
}
if (!get_next_nav_cmd(cmd_index, cmd)) {
return false;
// check a maximum of 16 items, remembering that missions can have
// loops in them
for (uint8_t i=0; i<16; i++, cmd_index++) {
if (!get_next_nav_cmd(cmd_index, cmd)) {
return false;
}
switch (cmd.id) {
// any of these are considered a takeoff command:
case MAV_CMD_NAV_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF_LOCAL:
return true;
// any of these are considered "skippable" when determining if
// we "start with a takeoff command"
case MAV_CMD_NAV_DELAY:
continue;
default:
return false;
}
}
if (cmd.id != MAV_CMD_NAV_TAKEOFF) {
return false;
}
return true;
return false;
}
/// start_or_resume - if MIS_AUTORESTART=0 this will call resume(), otherwise it will call start()